Create timegrid

timegrid

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+Enter file contents here#include <SFE_LSM9DS0.h>
+
+
+
+//robot randomly moves around and avoids obstacles
+//uses two motors (A0,A1)
+//and two distance sensors (A2,A7)
+//motors are controlled via the servo library and treated as continuous servos 
+// 0-full speed 1 way 90-neutral/not moving 180-full speed the opposite direction
+// the motors are facing opposite directions, so speeds must be inverse
+
+#include <Servo.h>
+#include <Wire.h>
+#include <Adafruit_Sensor.h>
+#include <Adafruit_LSM303_U.h>
+#include <Adafruit_Simple_AHRS.h>
+
+#define LSM9DS0_XM  0x1D // Would be 0x1E if SDO_XM is LOW
+#define LSM9DS0_G   0x6B
+
+// Create sensor instances.
+
+//Adafruit_LSM303_Mag_Unified   mag(30302);
+
+
+//LSM9DS0 dof(MODE_I2C, LSM9DS0_G, LSM9DS0_XM);
+
+// Create simple AHRS algorithm using the above sensors.
+//Adafruit_Simple_AHRS          ahrs(&accel, &mag);
+
+Servo motorR;
+Servo motorL;
+
+void setup() {
+  Serial.begin(115200);
+  motorR.attach(A0);
+  motorL.attach(A1);
+ // accel.begin();
+ // mag.begin();
+}
+
+void loop() {
+
+  // how fast the robot moves
+int motorset = 90;    
+//set right to full speed
+  int right = 90-motorset;
+  //set left to full speed
+  int left = 90+motorset;
+  // light = read light sensor
+  int light = analogRead(A3);
+
+  // how long it takes the robot to turn
+  int turntime = 1000;
+  // how long the robot drives for
+  int drvtime = 1000;
+  // the line between black and white
+  int lightborder = 300;
+
+  int passes = 0;
+
+
+while( 0==0 ){
+
+  while(light>300) { 
+    motorR.write(right);        //make both motors go forwards at the same speed
+    motorL.write(left);
+    if (light<300){
+      int passes = passes++;
+      delay(drvtime);
+      motorR.write(right+motorset);
+      motorL.write(left -motorset);
+
+
+      delay(turntime);
+
+      if(passes == 3 or passes == 4){
+         motorR.write(right-motorset);
+         motorL.write(left -motorset);
+         delay(turntime);
+
+
+        }
+       if (passes == 5){
+        int passes = 1; 
+       }
+
+
+    }
+  }
+}   
+}
+
+
+/// when something is in front of the distance sensor
+  //stopmotors();                 //stop going forward
+ // delay(500);
+
+//  motorR.write(right);           //go backwards 
+//  motorL.write(right);
+//  delay(500);
+//  stopmotors();                         ////stop going backwards
+
+//  turn();                                    ////turn than stop
+//}                                       ///repeat loop
+
+
+
+
+
+
+
+//int gyrotest(){
+//  int i;
+ // int lastacceleration= dof.calcAccel(dof.az);
+
+ // for (i = 0; i < 500; i = i + 1) {
+        //  if (dof.calcAccel(dof.az)<10+lastacceleration&&dof.calcAccel(dof.az)>lastacceleration-10){
+        //    i = i+2;
+        //    return 1;
+       //   }
+       //   else{
+      //      return 0;
+    //      }
+  //    }
+//}
+
+
+
+
+
+//void turn(){
+//  motorR.write(random(0,180));      /////robot turns random direction for less than stops moving
+//  motorL.write(random(0,180));
+ // delay(random(500,2000));
+ // stopmotors();
+//}
+
+
+
+
+//int distance(){            //////checks the distance sensors, returns 0 if there is nothing close to either sensor
+   //   int back=0;          ////// and returns 1 if there is something close to either sensor
+   ///   int i;
+   ///   int distance1 = analogRead(A2);
+   //   int distance2 = analogRead(A7);
+    //  int distancesensors[3]={distance1,distance2};
+    //  for (i = 0; i < 2; i = i + 1) {
+     //     if (distancesensors[i]>450){
+     //       i = i+2;
+      //      return 1;
+      //    }
+      //    else{
+      //      return 0;
+      //    }
+    //  }
+ // }
+
+
+
+
+//void stopmotors(){      ////returns both motors to neutral 
+//  motorR.write(90);
+//  motorL.write(90);
+//}